CN112660371B - Flight control system and method of vertical take-off and landing unmanned aerial vehicle - Google Patents
Flight control system and method of vertical take-off and landing unmanned aerial vehicle Download PDFInfo
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Abstract
The application discloses a flight control system and a flight control method of a vertical take-off and landing unmanned aerial vehicle, wherein the flight control system comprises a thrust driving module and an angle sensor; when the vertical take-off and landing unmanned aerial vehicle is in a take-off and landing state, the angle sensor is used for acquiring target angle data and sending the target angle data to the controller; the controller is used for controlling the thrust motor to drive the thrust propeller to rotate according to the target angle data until the direction of the thrust propeller is parallel to the horizontal direction. According to the application, the deviating angle of the thrust propeller can be obtained in real time in the lifting state, and the thrust motor is controlled to drive the thrust propeller to rotate in time, so that the direction of the thrust propeller is parallel to the horizontal direction, and the thrust propeller is locked at the position with the largest distance from the ground or a ground barrier through the motor brake, so that the collision event of the unmanned aerial vehicle in the lifting process can be reduced to the greatest extent; in addition, interference to other devices is avoided.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle control, in particular to a flight control system and method of a vertical take-off and landing unmanned aerial vehicle.
Background
For the vertical take-off and landing unmanned aerial vehicle, the thrust propeller only works in a cruising state and does not work in a vertical take-off and landing stage. However, the thrust propeller does irregular movement under the action of pneumatic force in the lifting stage, and then the following problems are brought about:
1) Other equipment or obstacles can be collided, and the screw propeller can be damaged if the ground is uneven;
2) Other equipment is easy to interfere with normal use, such as failure of parachute opening of the unmanned aerial vehicle caused by winding of parachute ropes in the parachute opening process.
Disclosure of Invention
The application aims to overcome the defects that in the prior art, a vertical take-off and landing unmanned aerial vehicle generates irregular motion under the action of pneumatic force in the vertical take-off and landing stage, equipment damage is easy to occur, and other equipment use conditions are easy to interfere.
The application solves the technical problems by the following technical scheme:
a flight control system of a vertical take-off and landing unmanned aerial vehicle, the flight control system comprising a thrust drive module and an angle sensor;
the thrust driving module comprises a thrust motor and a controller;
one end of the thrust motor is fixedly connected with a thrust propeller of the vertical take-off and landing unmanned aerial vehicle, and the other end of the thrust motor is fixedly connected with the angle sensor;
the controller is respectively and electrically connected with the thrust motor and the angle sensor;
when the vertical take-off and landing unmanned aerial vehicle is in a take-off and landing state, the angle sensor is used for acquiring target angle data and sending the target angle data to the controller;
and the controller is used for controlling the thrust motor to drive the thrust propeller to rotate according to the target angle data until the direction of the thrust propeller is parallel to the horizontal direction.
Preferably, the angle sensor comprises a magnetic encoder;
the magnetic encoder comprises a magnet and an encoder chip;
the magnet is fixedly arranged at one end of a central rotating shaft of a rotor of the thrust motor, the encoder chip is fixedly arranged on a stator of the thrust motor, and the thrust propeller is fixedly arranged at the other end of the central rotating shaft of the rotor of the thrust motor;
wherein the center of rotation of the magnet coincides with the geometric center of the encoder chip.
Preferably, when the vertical take-off and landing unmanned aerial vehicle is produced, the angle sensor is used for acquiring initial angle data when the thrust propeller is parallel to the horizontal direction and sending the initial angle data to the controller;
the controller is used for calculating and obtaining an angle difference value between the target angle data and the initial angle data;
wherein the angle difference value is an angle of the thrust propeller deviating from the horizontal direction;
the controller is also used for controlling the thrust motor to drive the thrust propeller to rotate according to the angle difference value until the angle difference value is zero.
Preferably, the controller is configured to drive the thrust motor to rotate according to the angle difference by using a current space vector algorithm.
Preferably, the controller is used for short-circuiting three phases of the thrust motor to brake and lock the thrust motor when the thrust motor rotates to a target position;
when the thrust motor rotates to the target position, the direction of the thrust propeller is parallel to the horizontal direction.
The flight control method of the vertical take-off and landing unmanned aerial vehicle is realized by using the flight control system of the vertical take-off and landing unmanned aerial vehicle, and comprises the following steps:
s1, when the vertical take-off and landing unmanned aerial vehicle is in a take-off and landing state, the angle sensor acquires target angle data and sends the target angle data to the controller;
s2, the controller controls the thrust motor to drive the thrust propeller to rotate according to the target angle data until the direction of the thrust propeller is parallel to the horizontal direction.
Preferably, step S1 further comprises:
when the vertical take-off and landing unmanned aerial vehicle is produced, the angle sensor acquires initial angle data when the thrust propeller is parallel to the horizontal direction and sends the initial angle data to the controller;
the step S2 comprises the following steps:
the controller calculates an angle difference value between the target angle data and the initial angle data;
wherein the angle difference value is an angle of the thrust propeller deviating from the horizontal direction;
and the controller controls the thrust motor to drive the thrust propeller to rotate according to the angle difference value until the angle difference value is zero.
Preferably, step S2 includes:
and the controller drives the thrust motor to rotate according to the angle difference value by adopting a current space vector algorithm.
Preferably, step S2 further comprises:
s3, when the thrust motor rotates to a target position, the controller short-circuits three phases of the thrust motor to brake and lock the thrust motor;
when the thrust motor rotates to the target position, the direction of the thrust propeller is parallel to the horizontal direction.
The application has the positive progress effects that: the vertical take-off and landing unmanned aerial vehicle has the advantages that the thrust propeller of the vertical take-off and landing unmanned aerial vehicle is fixedly arranged at one end of the thrust motor, the magnetic encoder is fixedly arranged at the other end of the thrust motor, the deviation angle of the thrust propeller is obtained in real time in the take-off and landing state, the thrust motor is timely controlled to drive the thrust propeller to rotate, the direction of the thrust propeller is parallel to the horizontal direction, and meanwhile the thrust propeller is locked at the position with the largest distance from the ground or a ground obstacle through the motor brake, so that the occurrence of collision events of the unmanned aerial vehicle in the take-off and landing process can be reduced to the greatest extent; in addition, the interference to other equipment is avoided, and the device has the advantages of simple structure, small volume, light weight and the like.
Drawings
Fig. 1 is a schematic block diagram of a flight control system of a vertical takeoff and landing unmanned aerial vehicle according to embodiment 1 of the present application.
Fig. 2 is a schematic view showing a part of the structure of a flight control system of a vertical take-off and landing unmanned aerial vehicle according to embodiment 1 of the present application.
Fig. 3 is a schematic view of a part of the structure of the vertical lift unmanned aerial vehicle according to embodiment 1 of the present application.
Fig. 4 is a flowchart of a method for controlling flight resistance of the vertical takeoff and landing unmanned aerial vehicle according to embodiment 2 of the present application.
Fig. 5 is a flowchart of step S12 in the method for controlling flight resistance of the vertical takeoff and landing unmanned aerial vehicle according to embodiment 2 of the present application.
Detailed Description
The application is further illustrated by means of the following examples, which are not intended to limit the scope of the application.
Example 1
A flight control system of a vertical take-off and landing unmanned aerial vehicle, as shown in fig. 1, comprises a thrust driving module 1 and an angle sensor 2;
the thrust driving module 1 comprises a thrust motor 11 and a controller 12;
one end of the thrust motor 11 is fixedly connected with the thrust propeller 3 of the vertical lifting unmanned aerial vehicle, and the other end of the thrust motor 11 is fixedly connected with the angle sensor 2; the controller 12 is electrically connected with the thrust motor 11 and the angle sensor 2 respectively;
the thrust driving module 1 can be arranged at any position of the thrust propeller 3 of the vertical take-off and landing unmanned aerial vehicle, and the specific installation position can be determined according to actual requirements. Preferably, as shown in fig. 2, the thrust driving module 1 is fixedly arranged under the thrust propeller 3 of the vertical take-off and landing unmanned aerial vehicle, and the thrust driving module 1 drives the thrust propeller 3 to rotate through the thrust motor 11; the angle sensor 2 is fixedly arranged right below the thrust driving module 1;
wherein the angle sensor 2 may specifically comprise a magnetic encoder;
the magnetic encoder comprises a magnet and an encoder chip;
the magnet is fixedly arranged at one end of a central rotating shaft of a rotor of the thrust motor 11, the encoder chip is fixedly arranged on a stator of the thrust motor 11, and the thrust propeller 3 is fixedly arranged at the other end of the central rotating shaft of the rotor of the thrust motor 11; the rotation center of the magnet coincides with the geometric center of the encoder chip, and when the magnet rotates along with the rotor, an angle difference is generated between the magnet and the encoder chip arranged on the stator, so that the deviation angle of the thrust propeller 3 relative to the horizontal direction is measured.
When the vertical take-off and landing unmanned aerial vehicle is in a take-off and landing state, the angle sensor 2 is used for acquiring target angle data and sending the target angle data to the controller 12;
the controller 12 is configured to control the thrust motor 11 to drive the thrust propeller 3 to rotate according to the target angle data until the thrust propeller 3 is oriented parallel to the horizontal direction.
Specifically, when the vertical take-off and landing unmanned aerial vehicle is produced, the angle sensor 2 is used for acquiring initial angle data when the thrust propeller 3 is parallel to the horizontal direction, and sending the initial angle data to the controller 12;
the controller 12 is configured to calculate an angle difference between the target angle data and the initial angle data; the angle difference value is the angle of the thrust propeller 3 deviating from the horizontal direction;
if the initial angle data is calibrated to be zero, the target angle data obtained by the magnetic encoder is the angle of the thrust propeller 3 deviating from the horizontal direction.
The controller 12 is further configured to control the thrust motor 11 to drive the thrust propeller 3 to rotate according to the angle difference value until the angle difference value is zero, where the thrust propeller 3 is oriented parallel to the horizontal direction.
Specifically, the controller 12 is configured to drive the thrust motor 11 to rotate to a target position according to the angle difference by using a current space vector algorithm, where the direction of the thrust propeller 3 is parallel to the horizontal direction when the thrust motor 11 rotates to the target position.
It should be noted that, in the present application, other algorithms capable of driving the thrust motor 11 to rotate to the target position according to the angle difference may be used to further drive the thrust motor 11 to rotate.
In addition, the controller 12 is configured to short-circuit three phases of the thrust motor 11 to brake and lock the thrust motor 11 when the thrust motor 11 rotates to a target position; specifically, but not limited to, a field effect transistor is used to short-circuit the three phases of the thrust motor 11 to brake and lock the thrust motor 11;
as shown in fig. 3, a represents a horizontal direction in which the thrust propeller 3 in the vertical lift unmanned aerial vehicle is parallel to the horizontal direction, at which time a distance value from the ground or a ground obstacle is maximized.
In the embodiment, the thrust propeller of the vertical lifting unmanned aerial vehicle is fixedly arranged at one end of the thrust motor, the magnetic encoder is fixedly arranged at the other end of the thrust motor, so that the deviating angle of the thrust propeller is obtained in real time in the lifting state, the thrust motor is timely controlled to drive the thrust propeller to rotate, the direction of the thrust propeller is parallel to the horizontal direction, and the thrust propeller is locked at the position with the largest distance from the ground or a ground obstacle through the motor brake, so that the occurrence of collision events of the unmanned aerial vehicle in the lifting process can be furthest reduced; in addition, the interference to other equipment is avoided, and the device has the advantages of simple structure, small volume, light weight and the like.
Example 2
A flight control method of a vertical take-off and landing drone, as shown in fig. 4, the flight control method being implemented using the flight control system of a vertical take-off and landing drone as described in embodiment 1, the flight control method comprising:
s11, when the vertical take-off and landing unmanned aerial vehicle is in a take-off and landing state, the angle sensor acquires target angle data and sends the target angle data to the controller;
and S12, the controller controls the thrust motor to drive the thrust propeller to rotate according to the target angle data until the direction of the thrust propeller is parallel to the horizontal direction.
Wherein, before step S1, the flight control method further includes:
s10, when the vertical take-off and landing unmanned aerial vehicle is produced, the angle sensor acquires initial angle data when the thrust propeller is parallel to the horizontal direction, and sends the initial angle data to the controller;
further, as shown in fig. 5, step S12 specifically includes:
s121, the controller calculates and obtains an angle difference value between target angle data and initial angle data; wherein the angle difference value is an angle of the thrust propeller deviating from the horizontal direction; if the initial angle data is calibrated to be zero, the target angle data obtained by the magnetic encoder is the angle of the thrust propeller deviating from the horizontal direction.
S122, the controller controls the thrust motor to drive the thrust propeller to rotate according to the angle difference value until the angle difference value is zero; the thrust propeller is oriented parallel to the horizontal direction at this time.
In addition, in step S12, the controller drives the thrust motor to rotate to the target position according to the angle difference by using a current space vector algorithm, wherein when the thrust motor rotates to the target position, the direction of the thrust propeller is parallel to the horizontal direction, and it should be noted that other algorithms capable of driving the thrust motor to rotate to the target position according to the angle difference may be used to further drive the thrust motor to rotate.
In this embodiment, referring to fig. 4, after step S12, the flight control method further includes:
s13, when the thrust motor rotates to a target position, the controller short-circuits three phases of the thrust motor to brake and lock the thrust motor; in particular, but not limited to, field effect transistors may be used to short circuit the three phases of the thrust motor to brake the thrust motor.
In the embodiment, the thrust propeller of the vertical lifting unmanned aerial vehicle is fixedly arranged at one end of the thrust motor, the magnetic encoder is fixedly arranged at the other end of the thrust motor, so that the deviating angle of the thrust propeller is obtained in real time in the lifting state, the thrust motor is timely controlled to drive the thrust propeller to rotate, the direction of the thrust propeller is parallel to the horizontal direction, and the thrust propeller is locked at the position with the largest distance from the ground or a ground obstacle through the motor brake, so that the occurrence of collision events of the unmanned aerial vehicle in the lifting process can be furthest reduced; in addition, the interference to other equipment is avoided, and the device has the advantages of simple structure, small volume, light weight and the like.
While specific embodiments of the application have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and the scope of the application is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the principles and spirit of the application, but such changes and modifications fall within the scope of the application.
Claims (9)
1. A flight control system of a vertical take-off and landing unmanned aerial vehicle, which is characterized by comprising a thrust driving module and an angle sensor;
the thrust driving module comprises a thrust motor and a controller;
one end of the thrust motor is fixedly connected with a thrust propeller of the vertical take-off and landing unmanned aerial vehicle, and the other end of the thrust motor is fixedly connected with the angle sensor;
the controller is respectively and electrically connected with the thrust motor and the angle sensor;
when the vertical take-off and landing unmanned aerial vehicle is in a take-off and landing state, the angle sensor is used for acquiring target angle data and sending the target angle data to the controller;
and the controller is used for controlling the thrust motor to drive the thrust propeller to rotate according to the target angle data until the direction of the thrust propeller is parallel to the horizontal direction.
2. The flight control system of a vertical take-off and landing drone of claim 1, wherein the angle sensor includes a magnetic encoder;
the magnetic encoder comprises a magnet and an encoder chip;
the magnet is fixedly arranged at one end of a central rotating shaft of a rotor of the thrust motor, the encoder chip is fixedly arranged on a stator of the thrust motor, and the thrust propeller is fixedly arranged at the other end of the central rotating shaft of the rotor of the thrust motor;
wherein the center of rotation of the magnet coincides with the geometric center of the encoder chip.
3. The flight control system of the vertical takeoff and landing drone of claim 1, wherein the angle sensor is used to acquire initial angle data when the thrust propeller is parallel to the horizontal direction and send to the controller when the vertical takeoff and landing drone is produced;
the controller is used for calculating and obtaining an angle difference value between the target angle data and the initial angle data;
wherein the angle difference value is an angle of the thrust propeller deviating from the horizontal direction;
the controller is also used for controlling the thrust motor to drive the thrust propeller to rotate according to the angle difference value until the angle difference value is zero.
4. A flight control system for a vertical take-off and landing unmanned aerial vehicle as claimed in claim 3, wherein the controller is adapted to drive the thrust motor in rotation in accordance with the angle difference using a current space vector algorithm.
5. The flight control system of the vertical take-off and landing unmanned aerial vehicle of claim 4, wherein the controller is configured to short circuit three phases of the thrust motor to brake the thrust motor when the thrust motor rotates to a target position;
when the thrust motor rotates to the target position, the direction of the thrust propeller is parallel to the horizontal direction.
6. A flight control method of a vertical take-off and landing drone, characterized in that the flight control method is implemented with the flight control system of a vertical take-off and landing drone as claimed in any one of claims 1 to 5, the flight control method comprising:
s1, when the vertical take-off and landing unmanned aerial vehicle is in a take-off and landing state, the angle sensor acquires target angle data and sends the target angle data to the controller;
s2, the controller controls the thrust motor to drive the thrust propeller to rotate according to the target angle data until the direction of the thrust propeller is parallel to the horizontal direction.
7. The method for flight control of a vertical take-off and landing drone of claim 6, further comprising, prior to step S1:
when the vertical take-off and landing unmanned aerial vehicle is produced, the angle sensor acquires initial angle data when the thrust propeller is parallel to the horizontal direction and sends the initial angle data to the controller;
the step S2 comprises the following steps:
the controller calculates an angle difference value between the target angle data and the initial angle data;
wherein the angle difference value is an angle of the thrust propeller deviating from the horizontal direction;
and the controller controls the thrust motor to drive the thrust propeller to rotate according to the angle difference value until the angle difference value is zero.
8. The flight control method of the vertical take-off and landing unmanned aerial vehicle according to claim 7, wherein step S2 comprises:
and the controller drives the thrust motor to rotate according to the angle difference value by adopting a current space vector algorithm.
9. The method for controlling the flight of a vertical take-off and landing unmanned aerial vehicle according to claim 8, further comprising, after step S2:
s3, when the thrust motor rotates to a target position, the controller short-circuits three phases of the thrust motor to brake and lock the thrust motor;
when the thrust motor rotates to the target position, the direction of the thrust propeller is parallel to the horizontal direction.
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| CN201910977315.4A CN112660371B (en) | 2019-10-15 | 2019-10-15 | Flight control system and method of vertical take-off and landing unmanned aerial vehicle |
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| CN201910977315.4A CN112660371B (en) | 2019-10-15 | 2019-10-15 | Flight control system and method of vertical take-off and landing unmanned aerial vehicle |
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| CN112660371B true CN112660371B (en) | 2023-09-29 |
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| CN114510083B (en) * | 2022-04-20 | 2022-09-09 | 沃飞长空科技(成都)有限公司 | Propeller position control system, unmanned aerial vehicle and control method |
| CN117073717A (en) * | 2023-07-17 | 2023-11-17 | 江苏省地质调查研究院 | Unmanned aerial vehicle ranging calibration method and system |
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